mlsanityData to 7 Oct 2026

Learning Model Predictive Control for iterative tasks. A Data-Driven Control Framework

arXiv 1609.01387 ↗First posted 6 Sep 2016eess.SY cs.LG cs.SYcited by 38

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Abstract (arXiv)

A Learning Model Predictive Controller (LMPC) for iterative tasks is presented. The controller is reference-free and is able to improve its performance by learning from previous iterations. A safe set and a terminal cost function are used in order to guarantee recursive feasibility and non-increasing performance at each iteration. The paper presents the control design approach, and shows how to recursively construct terminal set and terminal cost from state and input trajectories of previous iterations. Simulation results show the effectiveness of the proposed control logic.

Key facts. Cited by 38 papers in the map (data through 7 Oct 2026). First posted on arXiv 6 Sep 2016.

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Citing papers per year: 2021: 8; 2022: 11; 2023: 7; 2024: 5; 2025: 3; 2026: 4.

38 papers.

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  1. 2021Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learningcited by 337
  2. 2022A Review of Safe Reinforcement Learning: Methods, Theory and Applicationscited by 169
  3. 2023The Safety Filter: A Unified View of Safety-Critical Control in Autonomous Systemscited by 77
  4. 2022LyaNet: A Lyapunov Framework for Training Neural ODEscited by 43
  5. 2021Lessons from AlphaZero for Optimal, Model Predictive, and Adaptive Controlcited by 22
  6. 2023Neural Operators of Backstepping Controller and Observer Gain Functions for Reaction-Diffusion PDEscited by 16
  7. 2021Robust Uncertainty Bounds in Reproducing Kernel Hilbert Spaces: A Convex Optimization Approachcited by 14
  8. 2021Scalable Learning of Safety Guarantees for Autonomous Systems using Hamilton-Jacobi Reachabilitycited by 10
  9. 2022Learning Sampling Distributions for Model Predictive Controlcited by 10
  10. 2022Learning to Optimize in Model Predictive Controlcited by 10
  11. 2021LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Taskscited by 9
  12. 2021A Regret Minimization Approach to Iterative Learning Controlcited by 8
26 more
  1. 2023Deep Model Predictive Optimizationcited by 7
  2. 2022SAFER: Data-Efficient and Safe Reinforcement Learning via Skill Acquisitioncited by 6
  3. 2022Model Predictive Control via On-Policy Imitation Learningcited by 6
  4. 2022Equipping Black-Box Policies with Model-Based Advice for Stable Nonlinear Controlcited by 5
  5. 2022Safe Reinforcement Learning via Confidence-Based Filterscited by 5
  6. 2024Safe Reach Set Computation via Neural Barrier Certificatescited by 5
  7. 2024Model Predictive Control and Reinforcement Learning: A Unified Framework Based on Dynamic Programmingcited by 5
  8. 2021Automated Controller Calibration by Kalman Filteringcited by 3
  9. 2023Revisiting Tropical Polynomial Division: Theory, Algorithms and Application to Neural Networkscited by 2
  10. 2023MPC-Inspired Reinforcement Learning for Verifiable Model-Free Controlcited by 2
  11. 2024DeepSafeMPC: Deep Learning-Based Model Predictive Control for Safe Multi-Agent Reinforcement Learningcited by 2
  12. 2024Safe Deep Model-Based Reinforcement Learning with Lyapunov Functionscited by 2
  13. 2025A Simple Approach to Constraint-Aware Imitation Learning with Application to Autonomous Racingcited by 2
  14. 2022SOCKS: A Stochastic Optimal Control and Reachability Toolbox Using Kernel Methodscited by 1
  15. 2023Out-of-Distribution-Aware Electric Vehicle Chargingcited by 1
  16. 2024Reinforcement Learning Compensated Model Predictive Control for Off-road Driving on Unknown Deformable Terraincited by 1
  17. 2025A New Perspective On AI Safety Through Control Theory Methodologiescited by 1
  18. 2026Uncertainty-Aware Predictive Safety Filters for Probabilistic Neural Network Dynamicscited by 1
  19. 2021Feedback Linearization of Car Dynamics for Racing via Reinforcement Learningcited by 0
  20. 2022Compactly Restrictable Metric Policy Optimization Problemscited by 0
  21. 2022Deep Reinforcement Learning-based Rebalancing Policies for Profit Maximization of Relay Nodes in Payment Channel Networkscited by 0
  22. 2023Enhancing Robot Learning through Learned Human-Attention Feature Mapscited by 0
  23. 2025Actor-Critic Cooperative Compensation to Model Predictive Control for Off-Road Autonomous Vehicles Under Unknown Dynamicscited by 0
  24. 2026SIT-LMPC: Safe Information-Theoretic Learning Model Predictive Control for Iterative Taskscited by 0
  25. 2026Hybrid Energy-Aware Reward Shaping: A Unified Lightweight Physics-Guided Methodology for Policy Optimizationcited by 0
  26. 2026Topological Feasibility Guarantees for Differentiable Predictive Controlcited by 0